import os
import launch
import launch_ros
from ament_index_python import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    autopatrol_robot_dir = get_package_share_directory('autopatrol_robot')
    patrol_config_path = os.path.join(autopatrol_robot_dir,'config','patrol_config.yaml')

    action_node_trutle_control = launch_ros.actions.Node(
        package='autopatrol_robot',
        executable='patrol_node',
        parameters=[patrol_config_path]
    )

    action_node_patrol_client = launch_ros.actions.Node(
        package='autopatrol_robot',
        executable='speaker',
    )

    return launch.LaunchDescription([
        action_node_trutle_control,
        action_node_patrol_client
    ])